DENSO - Robotics - RC7M Conveyer Tracking Board

ROBOT
RC7M CONTROLLER
OPTIONS MANUAL
(SUPPLEMENT)
CONVEYER TRACKING BOARD
Copyright © DENSO WAVE INCORPORATED, 2005-2011
All rights reserved. No part of this publication may be reproduced in any form or by any means without
permission in writing from the publisher.
Specifications are subject to change without prior notice.
All products and company names mentioned are trademarks or registered trademarks of their
respective holders.
Preface
Thank you for purchasing optional devices designed for DENSO robots.
This manual covers the specifications, installation, and use of the optional conveyer tracking board to
be configured in the **-G series robot system together with the RC7M controller.
Before use, read this manual carefully to safely get the maximum benefit from your robot and options in
your assembling operations.
Refer to “Chapter 14, Mounting I/O Extension Boards”, in the “RC7M OPTIONS MANUAL” for
installation method of extension board.
Optional board covered by this manual
Optional extension board “Conveyer Tracking board” for RC7M type controller
To the customer who purchased an extension board as an

additional component
(1) If you order the extension board together with robot, the extension board will be installed to the
robot controller, and the controller will be set up with the extension function enabled for shipment.
(2) If you purchase the extension board separately, inform us of the Serial No. of your robot:
Extension board will be delivered with the Customer ID (Password) packed together.
(3) When this product is first used, be sure to enable the extension function of the extension board
using the Customer ID (Password): Refer to the following pages for the procedure to enable
function.
NOTE: If your extension board is installed to any robot controller other than the one whose serial
number you informed us of at the time of purchase, the extension function cannot be enabled
i
Enabling extension functions by the teach pendant
Access: [F6 Set]—[F7 Options.]—[F8 Extnsion]—
[F5 Input ID]
Enables the extension function. Once enabled, the setting will be retained even if the
controller power is turned off and on.
(1) Press [F8 Extnsion] in the Option Menu, and the System Extension window will
appear as shown below.
The serial number appears.
(2) Press [F5 Input ID] on the System Extension window, and the numeric keypad
will appear.
(3) Enter the password and press [OK].
The name of the newly added function will be displayed.
(4) Restart the controller to make the extension function go into effect.
ii
Enabling extension functions in WINCAPSIII
Enables the extension function. Once enabled, the setting will be retained even if the
controller power is turned off and on.
(1) Choose Connect | Monitor Communication | Monitoring (online). Then choose

Tool | Controller extension.
(2) The Controller function extension window appears. Enter the password and
press Add.
The serial number appears.
(3) Restart the controller to make the extension function go into effect.
iii
Contents
Preface
To the customer who purchased an extension board as an additional component.................................i
Enabling extension functions by the teach pendant ...............................................................................ii
Enabling extension functions in WINCAPSIII ........................................................................................iii
Chapter 1 Hardware Setting for Conveyer Tracking................................................................................ 1
1.1 Optional Components .............................................................................................................. 1
1.2 Conveyer Tracking Board Specifications ................................................................................. 1
1.2.1 Location of Conveyer Tracking Board .............................................................................. 1
1.2.2 Specifications .................................................................................................................... 1
1.2.3 Pin Assignment of Conveyer Tracking Board ................................................................... 2
1.2.4 Conveyer Tracking Board Settings (Factory-default Settings) ......................................... 2
1.3 System Configuration of Conveyer Tracking ........................................................................... 3
1.3.1 Encoder Configuration ...................................................................................................... 3
1.3.2 Configuration of Sensors and Cameras ........................................................................... 3
1.4 Specifications of Components.................................................................................................. 4
1.4.1 Encoder............................................................................................................................. 4
(1) Specifications .....................................................................................................................4
(2) Outline drawing ..................................................................................................................4
1.4.2 DC/DC Converter.............................................................................................................. 5
(1) Specifications .....................................................................................................................5
(2) Outer dimensions...............................................................................................................5
(3) Wiring for DC/DC Converter ..............................................................................................6
1.4.3 Sensor Signal Input Pin Layout (NPN Type I/O) .............................................................. 7
1.4.4 Wiring Diagram of Optional Cables and Precautions in Wiring........................................ 8
(1) Encoder cable ....................................................................................................................8
(2) Wire connections of encoder (E6B2-CWZ1X) cables .......................................................8
(3) Wiring diagram of 5V power supply cable .........................................................................9
1.5 Hardware Operation Confirming Procedure .......................................................................... 10
1.6 Configuring Cameras for the Use of μVision Board................................................................11
1.6.1 Setting on the Rear Panel................................................................................................11
1.6.2 Setting Inside a Camera ................................................................................................. 12
[1] Mode change switch (DIP switch) ........................................................................................12
[2] Electronic shutter speed switch (Rotary switch)...................................................................13
[3] Notes......................................................................................................................................13
Chapter 2 Conveyer Tracking Adjustment ............................................................................................. 14

2.1 Setting Conveyer Tracking Parameters ................................................................................. 14
2.1.1 How to Set Conveyer Tracking Parameters ................................................................... 14
2.1.2 Detailed Explanation of Parameters ............................................................................... 19
2.2 Conveyer Calibration.............................................................................................................. 23
2.2.1 How to Execute Conveyer Calibration............................................................................ 23
2.2.2 Conveyer Calibration Execution Procedure ................................................................... 23
2.3 Camera Calibration ................................................................................................................ 28
2.3.1 General ........................................................................................................................... 28
2.3.2 Execution Procedure for Camera Calibration Library (CALCCAMCALPOS)................. 29
2.4 Teaching of Workpiece Position when Hand I/O Input Interrupt is in Use............................. 34
2.4.1 General ........................................................................................................................... 34
2.4.2 Execution Procedure for the Workpiece Position Teaching Library
(CALCIOTEACHPOS) .................................................................................................... 35
Chapter 3 Conveyer Tracking Program ................................................................................................. 38
3.1 General................................................................................................................................... 38
3.2 Program Examples................................................................................................................. 39
3.2.1 Workpiece Detection Program........................................................................................ 39
(1) When using μVision ..............................................................................................................39
(2) When using a Hand I/O input interrupt..................................................................................39
(3) When using an external visual equipment ............................................................................40
3.2.2 Tracking Operation Program .......................................................................................... 41
3.3 Program Confirmation Procedure .......................................................................................... 42
3.4 Conveyer Tracking Accuracy Checking Procedures.............................................................. 44
3.4.1 Encoder Installation Check ............................................................................................. 44
3.4.2 When Using Visual Equipment (External visual equipment such as μVision) ............... 44
3.4.3 When Position is Recognized by a Sensor (Hand I/O Interrupt).................................... 46
3.5 Tact time Decreasing Operation............................................................................................. 48
3.6 Program Examples................................................................................................................. 49
3.7 List of Commands Related to the Conveyer Tracking Function ............................................ 52
TRACKDATAINITIALIZE (statement)........................................................................................ 52
TRACKDATASET (statement)................................................................................................... 53
TRACKDATAGET (statement) .................................................................................................. 54
TRACKDATAINFO (statement) ................................................................................................. 55
TRACKDATANUM (statement) ................................................................................................. 55
CURTRACKPOS (statement) ................................................................................................... 56
CURTRACKSPD (statement).................................................................................................... 57
WAITTRACKMOVE (statement) ............................................................................................... 58
CALCWORKPOS (statement)................................................................................................... 59
CURTRACKPOSEX (statement)............................................................................................... 60
WAITTRACKMOVEEX (statement)........................................................................................ 61
CAMIN (Statement) ................................................................................................................... 62
CAMMODE (Statement)............................................................................................................ 63
3.8 List of Libraries Related to the Conveyer Tracking Function................................................. 64
SETTRACKMOVE (library) ....................................................................................................... 64
RESETTRACKMOVE (library) .................................................................................................. 65
CONVCAL (library).................................................................................................................... 65
CALCCAMCALPOS (library)..................................................................................................... 66
CALCIOTEACHPOS (library).................................................................................................... 66
SetTrackStartArea (library)........................................................................................................ 67
CalcConvPos (library) ............................................................................................................... 68
SetConvLowVelErr (library)....................................................................................................... 68
CalcConvVec (library) ............................................................................................................... 69
SortTrackData (library) .............................................................................................................. 69
SortTrackAllData (library) .......................................................................................................... 70
Chapter 1 Hardware Setting for Conveyer Tracking
1.1 Optional Components

Table below shows the optional components of the conveyer tracking system.
Optional Components
No. Part name Remarks Part No.
Delivered with the board installed on the controller 410010-3460
1 Conveyer tracking board
Delivered separately 410010-3470
2 Encoder OMRON: E6B2-CWZ1X1000P/R 410010-1690
3 Encode cable （3m） 410141-2440
4 Encode cable （5m） 410141-2430
5 Encode cable （15m） 410141-2420
6 5V power supply cable （2m）Encoder to DC/DC converter 410141-2450
7 DC/DC converter （24V-5V）OMRON: S82S-7305 410010-1680
Note: If delivered with the board installed on the controller, the bracket, screws and short-sockets are also installed on
the controller. The JP12 and JP13 of the Mini I/O board are short-circuited with short-sockets. See “1.4.2 (3) Wiring for
DC-DC converter”.
1.2 Conveyer Tracking Board Specifications

1.2.1 Location of Conveyer Tracking Board
The conveyer tracking board may be inserted into extension slot of the robot
controller. For mounting the board to the controller, refer to “Chapter 14, Mounting
I/O Extension Boards in the OPTIONS MANUAL”.
Board & accessories
1.2.2 Specifications
Items Specifications
Input count configuration Line receiver input, Non isolation (Note)
Input signal A、、B、、Z、
Maximum response frequency 1.5MHz
No. of channels 2（32Bit）
Supply voltage 5VDC（±5％）
Note: The Input count configuration is non-isolation. Encoder-power-supply-0V must be
common to 0V of the controller.
1
1.2.3 Pin Assignment of Conveyer Tracking Board
View from the cable side

Connector model: 10250-52A2JL (SUMITOMO 3M Limited)
Terminal number Input signal Terminal number Input signal
1 XA 9 YA
2 X 10 Y
3 XB 11 YB
4 X 12 Y
5 XZ 13 ZB
6 X 14 Z
7 GND 15 GND
1.2.4 Conveyer Tracking Board Settings (Factory-default Settings)

The conveyer tracking board is shipped with the following factory-default settings. Check the
settings before installing the board into the controller after purchase.
The settings are made for (1) Board setting jumper and (2) Encoder input circuit terminating
resistance selection jumper.
(1) Board ID setting jumper

Set Board ID setting jumper as shown
below.
(2) Encoder input circuit terminating

resistance selection jumper
Set jumper P1 and P2 to short-circuit
between Pin 2 and Pin 3 for all A, B and Z.
2
1.3 System Configuration of Conveyer Tracking
1.3.1 Encoder Configuration
Caution: Route the cables properly so that connectors are not to be pulled by a force of 1 kgf or larger.
When I/O converter box is used, note that power supply terminals (30, 64) exclusive for
tracking encoder on the Mini I/O cannot be used.
Set Mini I/O to internal power supply and use 24V output terminal of I/O POWER connector in
the I/O converter box, or prepare 24V power supply separately.
1.3.2 Configuration of Sensors and Cameras

■μVision board ■H and I/O ■External visual equipment
Conveyer tracking board Conveyer trackin g board Conveyer tracking board
μVision board
Encoder 1/ DC/DC Encoder 1/ DC/DC Encoder 1/ DC/DC

Encoder 2 Encoder 2 converter Encoder 2 converter
converter
Image Shutter-ON
Sensor reco gnition data signal
signal
Camera
Visual
Camera 2 equipment
Camera 1
Monitor Proximity se nsor, etc. Monitor
3
1.4 Specifications of Components
1.4.1 Encoder
(1) Specifications
Be sure to read the INSTRUCTION Sheet enclosed in the package.
Item Specifications
Part No. 410010-1690
Model E6B2-CWZ1X （OMRON）
Type Incremental
Supply voltage 5VDC（±5％）
Current consumption 160 mA max.
Output circuit Line driver output
configuration
Output phase
A、、B、、Z、
Maximum response 100 kHz
frequency
Slewing speed 6000 r/min
Resolution 1000 pulses/revolution (Note 1)
Starting torque 980 μNｍ max.
Moment of inertia 1×10-6 kgm2 max.
Shaft loading Radial：30 N、 Axial：20 N
Dust & splash proof IP50
Ambient temperature -10℃ to +70℃
Ambient humidity 35％ to 85％RH
Note 1: The number of pulses is multiplied by 4, so the count value is 4000 pulses/revolution.
Note 2: Since this equipment is neither dust-proof nor drip-proof, protect it with a cover or something if used in
an adverse environment.
Note 3: Protect the encoder connectors by putting covers on them after installation.
(2) Outline drawing
4
1.4.2 DC/DC Converter
Be sure to read the INSTRUCTION Sheet enclosed in the package.
(1) Specifications
S82S-7305
Model
DIN Rail Mount
Input voltage 10.2 to 27.5VDC
Output voltage 5V
Poer ratings 3W
Output current 0.6A
Voltage
±5％
adjustment range
Ambient
0℃ to +50℃
temperature
Ambient humidity 25 to 85%RH
Note: Since this equipment is neither dust-proof nor drip-proof, protect it with a cover or
something when used in an adverse environment.
(2) Outer dimensions
5
(3) Wiring for DC/DC Converter
A wiring example when hand input (NPN type) is used is shown in the diagram
below. Refer to “RC7M CONTROLLER INTERFACE MANUAL” for details.
Notes:
(1) Use a twisted pair shielded cable as the power cable (24 V).
(2) Connect the shield with CN5 shell and the GND terminal of the DC/DC
converter.
(3) The capacity of current for the internal power supply is 1.3 A. When using
PLC or a proximity switch, use external power supplies.
(4) When board is purchased separately, JP12 and JP13 will be open.
Short-circuit JP12 and JP13 on mini I/O board using short-socket.
(5) Fuse is not installed in internal 0V power supply. If external 24V power
supply is connected, Mini I/O board will break: Take care not to make the
incorrect wiring.
Wiring for DC/DC Converter
Short-circuit
JP12 and JP13
on the Mini I/O
board of RC7M
controller using
the attached
short-socket.
Jumper for setting internal power output exclusive for conveyer tracking board (on the Mini I/O borad)
6
1.4.3 Sensor Signal Input Pin Layout (NPN Type I/O)
Table below shows sensor signal input pin layout. Refer to “RC7M
CONTROLLER INTERFACE MANUAL” for details.
HAND I/O（CN9）
View from the cable aside

Terminal Name Port I/O interrupt Terminal Name Port I/O interrupt
No. No. No. No. No. No.
1 Hand output 1 64 - 11 Hand input 3 50 3
7 Hand output 7 70 - 17 Power E24V for - -
Hand
8 Hand output 8 71 - 18 Power E0V for - -
Hand
9 Hand input 1 48 1 19 Not connected - -
10 Hand input 2 49 2 20 Not connected - -
.
7
1.4.4 Wiring Diagram of Optional Cables and Precautions in Wiring
(1) Encoder cable

The following shows a wiring diagram of encoder cables.
Wiring Diagram of Encoder Cables
(2) Wire connections of encoder (E6B2-CWZ1X) cables

Connect the encoder cable wires to the following connector pins.
8
(3) Wiring diagram of 5V power supply cable
The following shows a wiring diagram of the 5V power supply cable.
9
1.5 Hardware Operation Confirming Procedure
(1) Confirm that the Conveyer tracking function is effective using the teach
pendant.
Access: [Top Screen]-[F6 Set]-[F7 Options.]-[F8 Extension]
(2) Set Conveyer tracking parameters.

Refer to “2.1 Setting Conveyer Tracking Parameters”.
(3) Confirm the encoder count value.

Operate the Conveyer and confirm “Encoder current position”.

Confirm that the value changes according to the conveyer operation.
(4) Confirm the encoder count value when a workpiece is detected.

Operate the conveyer and confirm “Encoder stand. Pos. (Work detect.)”.
Confirm that the value changes every time a workpiece is detected.
10
1.6 Configuring Cameras for the Use of μVision Board
To use the μVision board as a sensor for the conveyer tracking board, it is
necessary to configure each camera by using the switches provided on the
rear panel and inside the camera.
This section describes settings to be modified from the factory defaults. For
detailed configuration, refer to the instruction manual of the camera.
On the rear panel, use the electronic shutter ON/OFF switch.
To access switches inside the camera, remove the camera cover and use the
mode change switch (DIP switch) and the electronic shutter speed switch
(rotary switch).
1.6.1 Setting on the Rear Panel

Turn the electronic shutter ON/OFF switch (SHUTTER, #3 in the figure below)
to the ON position. The default is OFF.
Do not disturb other switch settings.
2 3
4 5
1 Gain adjuster Adjusts the manual gain.

The factory default should be retained.
2 Gain switch Switches between manual gain, fixed gain, and automatic
gain control.
The factory default (FIX) should be retained.
3 Electronic shutter ON/OFF Turns the electronic shutter on and off.

switch This should be turned on for the μVision board.
4 VIDEO OUT terminal Video output terminal for monitoring.

This is not used for the μVision board.
5 DC IN/SYNC terminal Terminal used for power supply to the camera, shutter signal
input, and image output.
This should be connected to the μVision board.
11
1.6.2 Setting Inside a Camera
Remove the five screws from the camera cover with a precision screwdriver
and take off the cover.
Change the settings of the mode change switch (DIP switch) and electronic
shutter speed switch (rotary switch) as detailed below. Do not disturb other
switch settings.
Mode change switch (DIP switch) Electronic shutter speed switch

(Rotary switch)
Lens side
View from the side, after removal of the cover
[1] Mode change switch (DIP switch)

Turn selectors 2, 3, and 6 on the mode change switch to the ON position.
Other selectors should be OFF.
Factory default New configuration
Switch configuration (New settings in gray）

Selector # Function name
OFF ON
1 Gamma correction 1.0 0.45
2 CCD accumulation Frame accumulation Field accumulation

mode
3 Restart/reset OFF ON
4 Special shutter OFF ON
5 Reserved. ― ―
6 VD/FLD output VD output FLD output
12
[2] Electronic shutter speed switch (Rotary switch)
Use the electronic shutter speed switch to select the appropriate shutter speed.
The factory default is 1/1000 second (position "4").
The relationship between the switch position and shutter speed is shown
below.
It is necessary to adjust the electronic shutter speed depending upon the
illumination, angle of view, camera-subject distance, conveyer speed, and
other environmental conditions.
If the image blurs, increase the shutter speed. If the image is dark, adjust the
illumination or the aperture value of the lens to make the image properly bright.
No. Shutter speed
0 Normal
1 1/125
2 1/250
3 1/500
4 1/1000 (factory default)
5 1/2000
6 1/4000
7 1/10000
8 Flickerless
9 Flickerless
[3] Notes
To enable the settings made above, use the CAMIN command to switch to the
conveyer tracking mode and the CAMMODE command to specify the "Reset
function" and "Field reading" with their parameters.
For details, refer to the PROGRAMMER'S MANUAL I.
13
Chapter 2 Conveyer Tracking Adjustment
2.1 Setting Conveyer Tracking Parameters
To use the conveyer tracking function, you need to set conveyer tracking
parameters with a teach pendant.
2.1.1 How to Set Conveyer Tracking Parameters
(1) From the basic screen, select function items, in this order: [F2 Arm] →
Shift → [F12 Maint.].
14
(2) From the Maintenance screen, select [F8 Extension].
(3) Pressing [F1 Tracking] displays the parameter setting screen.

This screen is displayed only when the conveyer tracking function is
enabled as an extension function.
(4) Use the △key, ▽key, or the jog dial to select the conveyer number
(Conveyer1, Conveyer2).
The conveyer number is the same as the encode number, which depends on
the connector number (E1, E2) of the encoder cable. The encoder connected
to E1 is referred to as encoder 1, and the encoder connected to E2 is called
encoder 2. For details, refer to “1.3.1 Encoder Configuration” in “Hardware
Setting for Conveyer Tracking”.
When using two conveyers, you need to set parameters for each of conveyers
1 and 2.
15
(5) Selecting the conveyer number and then pressing [OK] displays the
parameter screen. Pressing [Cancel] returns to the preceding screen.
(6) Select a parameter you want, press [Change], and then enter a numeric
value. Pressing [OK] now changes the parameter value to the new one.
For the content of parameters, see “Table: List of Conveyer Tracking
Parameters”.
Note: There are two types of parameters: those immediately enabled after their
values are changed and those enabled after the controller power is turned off
and then on. When you change parameters of the latter type, turn the controller
power off and then turn it on. For details, see “Table: List of Conveyer Tracking
Parameters”.
16
Table List of Conveyer Tracking Parameters
Entry Factory Controller
Parameter name Unit Description Remarks
range default restart
Encoder Detection 0 to 1 0 Set to “1” to use the function. Needed
(0: Invalid, 1: Valid)
Encoder Rotate 0 to 1 0 Set to “1” to invert the direction Set the parameter so Needed
Direction (+/-) of the encoder count. that the direction of the
conveyer operation is
“+”.
Encoder Pulse per 1 0 to 1000 [P/R] Set the number of pulses per The number is multiplied Needed
Round 100000 rotation of the encoder. by 4 at the counter
board. The encoder
count value is 4 times
the number of pulses.
Conveyer Lead for 0 to 20 [mm] Set the conveyer operation amount Needed
Encoder 100000 per rotation of the encoder.
Encoder stand. Pos. The encoder count value when the This parameter cannot
(Work detect.) latest workpiece is detected is be changed.
displayed.
Encoder stand. Pos. The encoder count value when the This parameter cannot
(motion start.) workpiece subject to tracking is be changed.
detected is displayed.
Encoder current The current encoder count value is This parameter cannot
position displayed. be changed.
Conveyer CALSET -360 to 0 [deg] Set the direction of the conveyer See “Conveyer Not needed
(X,Y) 360 operation (rotation angle with Calibration”.
respect to the X-axis on the XY
plane).
Conveyer CALSET -360 to 0 [deg] Set the direction of the conveyer See “Conveyer Not needed
(Z) 360 operation (rotation angle with Calibration”.
respect to the XY plane).
Encoder max. speed 0 to 6000 [rpm] Set the upper speed limit for the Not needed
(rpm) 20000 encoder.
Encoder min. speed 0 to 0 [rpm] Set the lower speed limit for the Not needed
(rpm) 20000 encoder.
Conveyer Track Upper -2000 to 200 [mm] Set the range (+ side) of robot (Note1) Not needed
Pos. (mm) 2000 positions allowing tracking.
Conveyer Track Lower -2000 to -200 [mm] Set the range (- side) of robot (Note1) Not needed
Pos. (mm) 2000 positions allowing tracking.
Tracking start Pos.(+) -2000 to 200 [mm] Set the workpiece position (+ side) See the description of Not needed
(mm) 2000 allowing the start of tracking the operation wait
operation with the tracking command
operation wait command. “WAITTRACKMOVE”.
Tracking start Pos.(-) -2000 to -200 [mm] Set the workpiece position (- side) See the description of Not needed
(mm) 2000 allowing the start of tracking the operation wait
operation with the tracking command
operation wait command. “WAITTRACKMOVE”.
Tracking accel rate 0 to 100 25 [%] Set the acceleration at the start of Not needed
tracking operation and the
deceleration at the end of tracking
operation.
Tracking Position 0 to 50 7 Set the positional compensation Increase the value if the Not needed
Adjustment value amount for delay in tracking tracking operation
operation processing. position lags in the
direction of the
conveyer’s upstream.
I/O Interrupt Detection 0 to 1 0 Set to “1” to detect the workpiece Needed
(0:Invalid, 1:Valid) by hand I/O interrupt.
I/O Interrupt Number 1 to 8 0 Set the hand I/O Interrupt number Needed
to be used for workpiece detection.
Note1: When setting “Conveyer Track Upper Pos.” and “Conveyer Track Lower Pos.”, pay attention to their
changing order. Following cases will occur error:
Entering value of “Conveyer Track Upper Pos.” < Current value of “Conveyer Track Lower Pos.”
Entering value of “Conveyer Track Lower Pos.” > Current value of “Conveyer Track Upper Pos.”
(Continued on following page)
17
Entry Factory Controller
Parameter name Unit Description Remarks
range default restart
Edge Trigger 0 to 1 0 When the parameter is set to “0”, Needed
(0:Up, 1:Down) an interrupt occurs at a rising edge
(OFF→ON).
When the parameter is set to “1”,
an interrupt occurs at a falling edge
(ON→OFF).
Workpiece detection 0 to 1000 5 mm Set a range in which detected Set the parameter to a Not needed
position accuracy workpieces are recognized as the value smaller than the
same after the same workpiece has minimum distance
been detected for multiple times as between workpieces.
a result of repeated visual
recognition process.
Interrupt data setting 0 to 10 0 Set a condition for setting encoder Set this value to 1 if Not needed
data into the conveyer tracking data external visual
buffer at hand I/O interrupt. equipment is used.
Interrupt delay correction 0 to 30 0 2ms Set a wait length from when a hand For adjustment method, Not needed
value I/O interrupt occurs to when an refer to “3.4 Conveyer
encoder value is obtained. tracking accuracy
checking procedures”.
18
2.1.2 Detailed Explanation of Parameters
1. Encoder Detection
To use the encoder, set this parameter to “1”. If it is set to “0”, the encoder
value is not counted.
2. Encoder Rotate Direction
Set this parameter so that the encoder count value increases (change in the
direction of +) when the conveyer operates.
The encoder count value is displayed in “Encoder current position”. Check the
encoder count value before the conveyer operation, and close the parameter
window. After the conveyer operation, open the parameter window again and
check the encoder count value.
If the encoder count value after the conveyer operation decreases, change
“Encoder Rotate Direction” accordingly.
3. Encoder Pulse per 1 round
Set the number of pulses per rotation of the encoder. When you use
E6B2-CWZ1X, set this parameter to 1000. The encoder pulses undergo
frequency division at the conveyer tracking board, where four times the number
of pulses is counted. Therefore, the encoder count value per rotation of the
encoder is four times the number of encoder pulses.
4. Conveyer Lead for Encoder
Conveyer movement amount per rotation of the encoder. This parameter
checks the setting value for correctness when conveyer calibration is being
executed.
5. Encoder stand. Pos. (Work detect.)
This parameter indicates the encoder count value when a workpiece is
detected with a camera or sensor. The value changes each time a workpiece is
detected.
Sensor
Encoder
6. Encoder stand. Pos. (motion start.)

This parameter indicates the encoder count value when the workpiece subject
to the current tracking is detected. The value changes each time the workpiece
subject to tracking changes.
7. Encoder current position
This parameter indicates the current encoder count value.
Confirm that when the encoder makes one rotation, the encoder count value
increases four times the encoder pulse value (Encoder Pulse per 1 round).
19
8. Conveyer CALSET(X,Y)
9. Conveyer CALSET(Z)
These parameters set conveyer operation directions with respect to the robot
base coordinates. Each corresponds to the angle shown in the following figure.
Zb
Conveyer Motion Direction
ang2
Yb
ang1
Xb ang1: Conveyer CALSET(XY)

ang2: Conveyer CALSET(Z)
When conveyer calibration is executed, the computation value is applied.
10. Conveyer Track Upper Pos. (mm)

11. Conveyer Track Lower Pos. (mm)
These parameters set the tracking operation range with conveyer positions. As
shown in the figure below, the conveyer position is expressed by the distance
from the line, drawn from the robot home position perpendicularly to the
direction of conveyer operation, to the point in question in the conveyers. The
conveyer operation direction is regarded as the plus (+) side.
Conveyer operation
direction
Conveyer position
20
12. Tracking start Pos.(+) (mm)
13. Tracking start Pos.(-) (mm)
These parameters set the tracking operation start position with conveyer
positions.
The tracking operation wait command (WAITTRACKMOVE) is placed in the
wait status until the workpiece subject to tracking comes into the specified
tracking operation start range.
14. Tracking accel rate
When the tracking operation starts, the robot is accelerated until its speed
becomes the same as the conveyer speed. When the tracking operation
terminates, the robot is decelerated from the conveyer speed. This parameter
sets such acceleration/deceleration speed at the time of the tracking operation
start/stop. The greater the setting value, the shorter the switching time at the
start or stop of the tracking operation. Note, however, that too great a setting
value may cause “commanded acceleration error.
15. Tracking Pos. Adjustment value
When chucking the workpiece on the conveyer, the chucking position may shift
according to a rise in the conveyer speed. If that is the case, use this
parameter to adjust the position. If the shift is in the direction of the upstream of
the conveyer, increase the value. If the shift is in the direction of the
downstream of the conveyer, decrease the value.
Note: If the chucking position shifts when the conveyer speed is low or when
the conveyer stops, re-teaching is required.
16. I/O Detection
To detect workpieces with Hand I/O input interrupts, set this parameter to “1”.
Also, confirm that “Encoder Detection” is set to 1.
17. I/O Port Number
This parameter sets interrupt numbers for Hand I/O input connection
destination. The following table shows the correspondence between Hand I/O
input interrupt numbers, terminal numbers, and port numbers:
Hand I/O (CN9)

Terminal No. Name Port No. I/O interrupt No.
9 Hand input1 48 1
10 Hand input2 49 2
11 Hand input 3 50 3
18. Edge Trigger

This parameter sets the interrupt occurrence timing for Hand I/O input.
When “0” is set, an interrupt is generated to detect a workpiece when the input
signal specified in “I/O Port Number” changes from OFF to ON (rising edge).
When “1” is set, an interrupt is generated to detect a workpiece when the input
signal specified in “I/O Port Number” changes from ON to OFF (falling edge).
21
19. Workpiece detection position accuracy
The same workpiece may be detected for multiple times on a conveyer as a
result of repeated visual recognition process or others. In this case, detected
workpieces are checked if they are the same based on the difference in the
workpiece positions on the conveyer. This parameter sets a workpiece position
error range in which workpieces are recognized as the same.
If the parameter is set to a value larger than the minimum distance between
workpieces shown below, two different workpieces are falsely recognized as
the same. And if the parameter is set to a value smaller than the minimum
distance between workpieces, the same workpiece is falsely recognized as
multiple, different workpieces.
Set the parameter using the following guideline.
Setting value≦Minimum distance

between workpieces  0.5
Minimum distance between workpieces
20. Interrupt data setting

This parameter sets a condition for setting encoder value into the conveyer
tracking data buffer when a hand I/O interrupt occurs.
0: Upon execution of TrackDataSet command, all the encoder values

obtained during hand I/O interrupts are set into the conveyer tracking
data buffer.
1: Upon execution of TrackDataSet, the encoder values obtained during

the latest hand I/O interrupt are set into the conveyer tracking data
buffer.
If you use the shutter ON signal as the hand I/O interrupt signal by
using external visual equipment, set this parameter to 1.
21. Interrupt delay correction value
This parameter sets a wait length from when a hand I/O interrupt occurs to
when an encoder value is obtained.
The wait length is “Set value  2 (ms)”.
For how to adjust setting values, refer to the procedures (3) in “3.4.2 When
visual equipment is used” of “3.4 Conveyer tracking accuracy checking
procedures”.
22
2.2 Conveyer Calibration
The setting of conveyer operation direction is indispensable to conveyer

tracking. To set the conveyer operation direction, use the conveyer tracking
parameters (Conveyer CALSET(X,Y), Conveyer CALSET(Z)). Conveyer
calibration refers to the work of setting conveyer tracking parameters
(Conveyer CALSET(X,Y), Conveyer CALSET(Z)).
2.2.1 How to Execute Conveyer Calibration

There are two methods as shown below:
(1) Calculate conveyer tracking parameters (Conveyer CALSET(X,Y),
Conveyer CALSET(Z)) based on the layout drawing of the conveyer and
then enter the calculated value.
(2) Use the library CONVCAL for automatic setting.
The method in (2) above uses actual equipment and its precision is higher
than (1). The procedure of (2) is explained in the following section.
2.2.2 Conveyer Calibration Execution Procedure

(1) Setting conveyer tracking parameters
Check whether the following conveyer tracking parameters are set correctly:
a) Encoder Detection
Check that “1” (Valid) is set for this parameter.
b) Encoder Rotate Direction
Check that when the conveyer operates, the encoder count value is
incremented.
c) Encoder Pulse per Round
d) Conveyer Lead for Encoder
Check the conveyer operation amount per rotation of the encoder.
(2) Execution of the conveyer calibration library (CONVCAL)
(2-1) Outline of the conveyer calibration library (CONVCAL)
a) Set a reference point on the conveyer (placing a

workpiece or a mark).
b) Move the conveyer so that the reference point

falls within the robot operation range.
23
c) Move the robot to the reference point and read
the position data by teaching.
(Measurement point 1)
d) Operate the conveyer and move the reference

point.
e) Move the robot to the reference point again and

read the position data by teaching.
(Measurement point 2)
f) The conveyer calibration data is computed based on the robot positions and
encoder values for measurement points 1 and 2.
Note: Specify accurate positions for measurement points 1 and 2. If you give rough
positions, the tracking operation precision will deteriorate.
24
(2-2) Execution procedure for the conveyer calibration library (CONVCAL)
The execution procedure for the conveyer calibration library (CONVCAL) is

explained below using the pendant screen.
a) Set a reference point on the conveyer and move the conveyer until the
reference point comes within the robot operation range. Move the robot
manually to the reference point. This position is measurement point 1.
b) Switch to the teach check mode and execute the program CONVCAL.
The library argument setting window is displayed.
CONVNO is the conveyer number. Enter the conveyer number for calibration.
Press “Display”.
The parameter display screen is displayed.
Press “Change” and enter the conveyer number.
Pressing the Cancel key after entering a numeric value will return to the
original screen.
Check that the value of CONVNO is the same as the conveyer number for
calibration.
25
c) Execute the program step by step. After several steps are executed, the
following message is displayed:
If the conveyer number is set incorrectly, an error is indicated and the

program terminates.
d) Execute the library step by step until the following message is displayed:
Confirm that the robot has moved to measurement point 1 and then press OK.
If the robot has not reached measurement point 1, switch to the manual mode
and move the robot to that point.
26
e) Execute the library step by step until the following message is displayed:
Press OK.
Operate the conveyer to move the reference point. Move it to a position away
from measurement point 1 within the robot operation range, and then stop the
conveyer.
Switch to the manual mode and move the robot to the reference point. This
position is measurement point 2.
f) Switch to the teach check mode and execute the library step by step. When
the following message is displayed, conveyer calibration is completed.
If the conveyer tracking parameters (Encoder Pulse per Round, Conveyer Lead
for Encoder) are set incorrectly, an error is indicated. In that case, correct the
conveyer tracking parameters and execute conveyer calibration once again.
27
2.3 Camera Calibration
2.3.1 General
To recognize workpieces with camera, camera calibration is required. Camera
calibration is a task of computing relational formulas between robot coordinates
and camera coordinates by using WINCAPSIII Vision Manager. (Refer to the
Vision Manager in the WINCAPSIII Guide for details.)
In camera calibration, the robot is moved to the mark position recognized

visually, and the relational formula between the robot coordinates and camera
coordinates is computed. However, at the time of conveyer tracking, the visual
recognition position may be distant from the robot work position and therefore it
may be impossible to move the robot to the mark position recognized visually.
In that case, execute camera calibration in the following procedure using the
library CALCCAMCALPOS:
(1) Prepare three calibration marks and make visual recognition.

(2) Operate the conveyer, and when three calibration marks come within the
robot operation range, stop the conveyer.
(3) Move the robot to the three calibration mark positions and read the
position data by teaching. Based on the conveyer movement amount,
convert the teaching position data to the camera recognition position data.
Using the conversion result, compute the relational formula between the
robot coordinates and the camera coordinates.
Note: Before executing camera calibration, complete conveyer calibration. If you

execute camera calibration with conveyer calibration incomplete, correct
results of camera calibration cannot be obtained.
Execution of camera calibration is outlined below.
a) Prepare three calibration marks, and visually

recognize the calibration marks with the
conveyer placed in stop status.
b) Enter the vision coordinates using calibration in

Camera the WINCAPSIII Vision Manager.
28
c) Operate the conveyer, and when the three
calibration marks come within the robot
operation range, stop the conveyer.
d) Read the position data of three calibration marks

by teaching them one by one.
e) Based on the conveyer movement amount,

convert the teaching position data to the camera
recognition position data. The conversion result
is stored in variables.
f) Execute camera calibration using the camera

calibration tool of the vision manager.
2.3.2 Execution Procedure for Camera Calibration Library (CALCCAMCALPOS)

The execution procedure for the camera calibration library (CALCCAMCALPOS)
is explained blow using the pendant screen.
a) Prepare three camera calibration marks, and visually recognize the camera
calibration marks with the conveyer placed in stop status.
b) Enter the camera coordinates using calibration in the WINCAPSIII Vision
Manager.
In camera calibration, find the robot coordinates and camera coordinates for
each of the three marks and compute the relational formula between the
robot coordinates and the camera coordinates. The three marks are called
mark 1, mark 2, and mark 3 in the following explanations:
c) Switch to the teach check mode and execute the library CALCCAMCALPOS.
The library argument setting window is displayed.
29
CONVNO is the conveyer number. Enter the conveyer number for calibration.
POS1 is a P-type variable number to store the robot coordinates for mark 1. Likewise,
POS2 and POS3 are P-type variable numbers to store the robot coordinates for mark 2
and mark 3, respectively. Set the numbers so that they are stored in separate P-type
variables.
Move the cursor to CNVNO and press “Display” to display the parameter display screen.

Pressing the Cancel key after entering the numeric value returns to the original screen.
Likewise, enter numeric values sequentially by moving the cursor to POS1 to POS3.
Enter all numeric values for CNVNO and POS1 to POS3.
(The diagram below is an example of storing conveyer number 1, and mark 1 in P20, mark
2 in P21 and mark 3 in P22.)
30
d) Execute the library step by step. When several steps are executed, the
Confirm that the conveyer is placed in the stop status at the camera
calibration mark recognition position, and then press OK. Execute the library
step by step continuously.
e) Execute the library step by step until the following message is displayed:
Press OK.
Operate the conveyer, and when the three calibration marks come into the
robot operation range, stop the conveyer.
31
f) Execute the library step by step until the following message is displayed:
Press OK.
Switch to the manual mode and move the robot to the position of mark 1.
When the movement is completed, switch to the teach check mode again
and execute the program step by step.
g) Execute the library step by step until the following message is displayed:
Press OK.
In the same way as for mark 1, switch to the manual mode and move the robot
to the position of mark 2.
When the movement is completed, switch to the teach check mode again and
execute the program step by step.
32
h) Execute the library step by step until the following message is displayed:
Press OK.
In the same way as for marks 1 and 2, switch to the manual mode and move
the robot to the position of mark 3.
When the movement is completed, switch to the teach check mode again
and execute the program step by step.
i) Execute the library to END. The robot coordinates for the calibration marks
are computed and the results are stored in the specified P-type variables.
j) Import the robot coordinates saved by the WINCAPSIII Vision Manager,
then execute calibration. This completes the calibration procedure.
33
2.4 Teaching of Workpiece Position when Hand I/O Input Interrupt is in Use
2.4.1 General
To detect workpieces using Hand I/O input interrupts, it is necessary to teach
the workpiece position when it is detected. However, at the time of conveyer
tracking, the workpiece detection position may be distant from the robot work
position and therefore it may be impossible to move the robot to the workpiece
detection position.
In that case, teach the workpiece detection position in the following procedure
using the library CalcIOTeachPos:
Note: Before teaching the workpiece position for Hand I/O input interrupts, set
conveyer tracking parameters and then execute conveyer calibration.
Execution of workpiece position teaching is outlined below.
a) Prepare one workpiece for teaching.

b) Switch to the auto mode
c) Operate the conveyer and detect the workpiece
with the sensor.
Sensor
d) Operate the conveyer, and when the robot

operation range is reached, stop the conveyer.
e) Switch to the manual mode and teach the

workpiece chucking position.
34
2.4.2 Execution Procedure for the Workpiece Position Teaching Library
(CALCIOTEACHPOS)
The execution procedure for the workpiece position teaching library
(CALCIOTEACHPOS) is explained below using the pendant screen.
a) Switch to the auto mode and place a workpiece on the conveyer and operate
the conveyer. After detecting the workpiece with the sensor, when the
workpiece comes within the robot operation range, stop the conveyer.
b) Switch to the manual mode and manually operate the robot to the workpiece
holding position.
c) Switch to the teach check mode and execute the library CALCIOTEACHPOS.
The library argument setting window is displayed. CONVNO is the conveyer

number. Enter the conveyer number for calibration.
POS1 is a P-type variable number to store the workpiece position obtained by
teaching.
POS2 is a P-type variable number to store the workpiece position when the
workpiece is detected by the sensor (Hand I/O input interrupt). Set numbers for
POS1 and POS2 in such a way that they are stored in separate P-type
variables.
Move the cursor to CNVNO and press “Display” to display the parameter
display screen.

Pressing the Cancel key after entering the numeric value returns to the original screen.
35
Next move the cursor to POS and press “Display”, and set the storage number
by pressing “Change”. Change the setting for POS2 too.
Enter all numeric values for CNVNO, POS1 and POS2.
(The diagram on the left is an example of storing conveyer number 1 and
workpiece teaching position in P110, and the workpiece position when it is
detected in P100.)
d) Execute the library step by step. When several steps are executed, the
Press OK.
If the robot is not at the workpiece teaching position when the message is
displayed, operate the robot manually.
After confirming that the robot is at the workpiece teaching position, execute
the library step by step.
36
e) When the library is executed several steps, the following message is
displayed:
The workpiece position is taken into the specified P-type variable.
Press OK, and execute the library step by step.
f) When several steps are executed, the following message is displayed:
The workpiece position when it is detected is taken into the specified P-type
variable
Press OK and continue to execute the library step by step.
g) Execute the library step by step up to the end of the program. When the
program is terminated, the setting of teaching positions is completed.
37
Chapter 3 Conveyer Tracking Program
3.1 General
Workpiece Tracking
detection operation
Conveyer Conveyer
program Conveyer tracking program
tracking data tracking data
data buffer
(for each
TrackDataSet conveyer) TrackDataSet
The conveyer tracking program consists of two programs, the workpiece detection program and
tracking operation program, and the conveyer tracking data buffer for storing detected workpiece
data. The conveyer tracking data buffer is provided on each conveyer (conveyer 1, conveyer 2).
Tracking data for the conveyer specified by the workpiece detection program is stored in the buffer.
The tracking operation program obtains the tracking data of the specified conveyer and executes
tracking operation. Execute the workpiece detection program and the tracking operation program
under a multi-task environment.
Cautions at executing the conveyer tracking motion
(1) The conveyer tracking program must be executed in the auto mode. In the teach check
mode, conveyer tracking motion is forbidden .
(2) Conveyer tracking motion is stopped when the conveyer tracking program is
completed or the mode switch is setted in the manual mode or GIVEARM command is
executed.
(3) During tracking operation, do not use the following operation commands:
a) Encoder value checking operation (@E is assigned to a point from which operation
command pass starts)
An error 6651 “Check command time over” happens if the encoder value checking
operation is used.
b) Operation command changing an operation pattern of a robot
A robot operation pattern cannot be changed during the tracking operation even at
PTP operation. If you execute a command to change the pattern, errors 6844
“Robot posture mismatch (track)” or 667A “Destination position out of motion space
2” happen.
(4) The following functions cannot be used during the tracking operation.
Current limiting、OffSrvLock、OffPWM
An error 6847 “Time out of waiting tracking motion” occurs if those functions are
used.
(5) If tracking operation stops (stop by motor-OFF, halt, emergent stop and stop by error),
the operation returns to the normal mode from the tracking mode and an error 6841
“Interrupted track motion” occurs.
Note: If tracking operation stops by step stop, the tracking mode continues.
To start tracking operation again, execute the tracking-enabling command again.
38
3.2 Program Examples
3.2.1 Workpiece Detection Program
(1) When using μVision
PROGRAM Vision
DEFPOS VisResult,PosResult
PosResult=(0,0,240,0,0)
TrackDataInitialize 1 'Initialize conveyer 1 data buffer

TAKEVIS
VISSCREEN 0,0,0
VISCLS
VISBRIGHT 221
VISPLNOUT 0,1
VISWORKPLN 0
VISDEFCHAR 2,2,3
WINDMAKE R,0,510,479,0,2
DO 'Always monitor the recognition result of the camera

CAMMODE 1,1,1 'Specify Reset function and Field reading *1
CAMIN 1,0,0,1
'Capture the image from a camera on conveyer 1 (Camera #1) and enable conveyer tracking
VISPLNOUT 0
BLOB 0,0,0,1,125,254,1,2000,0
Label%=0
IF VISSTATUS(0)=0 THEN 'Normal end of recognition
IF VISSTATUS(1)<>0 THEN
Label%=VISSTATUS(1)
SHMODEL 0,0,0,3,80,0,Label%,0,0
IF VISSTATUS(0)=0 THEN
cnt%=VISGETNUM(0,0) 'Obtain the number of recognized workpieces
FOR cnt1%=1 TO cnt% 'Convert camera coordinates to robot coordinates
LETX VisResult=VISGETNUM(cnt1%-1,1)
LETY VisResult=VISGETNUM(cnt1%-1,2)
CALL viTran6(0, POSX(VisResult),POSY(VisResult),PosResult)
'Save the recognized workpiece data into conveyer tracking data buffer
TrackDataSet 1,cnt%,PosResult
NEXT
END IF
END IF
END IF
LOOP UNTIL IO[220]=ON 'Repeat until the workpiece recognition completion signal comes ON
END
*1 Before using CAMIN, be sure to specify the reading method with CAMMODE.
(2) When using a Hand I/O input interrupt

PROGRAM IODetect
TrackDataInitialize 1 ‘Initializing conveyer 1 data buffer
DO ‘Workpiece recognition results are always monitored
‘The detected workpiece data is saved to the conveyer tracking data buffer
‘The number of detected workpieces is determined within TrackDataSet
TrackDataSet 1,1,P100 ‘P100 indicates the position where the workpiece is detected
(computation result of CaIcIOteachPos)
Delay 200 ‘Waiting for 0.2(s)m
LOOP UNTIL IO[220]=ON ‘Repeated until the workpiece recognition processing termination
signal (such as 220) is ON
END
39
(3) When using an external visual equipment
For the Interrupt data setting of conveyer tracking parameters, set the value to 1
when using an external visual equipment. The sample program using RS-232C
is shown as follows.
PROGRAM ExtVision
DEFINT ErrNo = 0
DEFSNG VisData(4),Masterang
DEFPOS VisResult
PosResult=(0,0,240,0,0)
TrackDataInitialize 1
TAKEVIS
FLUSH #1 ‘Initializing serial communication buffer
DO
LINEINPUT #1,S[1] 'Receiving visual data via RS-232C
cnt% = VAL(LEFT$(S1,1)) ‘Obtaining the number of recognized workpieces
IF cnt% <> 0 THEN ‘When the number of recognized workpieces is except 0
TmpBuff$ = MID$(S1,3,LEN(S1)-2)
TmpBuff$ = TmpBuff$ + ",E"
FOR cnt1%=1 TO cnt%
FOR cnt2%=1 TO 3
ii% = STRPOS(TmpBuff$,",") 'Comma “,” searching
IF ii% = 0 THEN ‘When data is abnormal
ErrNo = 2 'Setting data error flag
EXIT FOR
END IF
VisData(cnt2%) = VAL(LEFT$(TmpBuff$,ii%-1)) 'Sampling data
IF VisData(cnt2%) >= 999.0 THEN ‘When data is abnormal'
EXIT FOR
END IF
TmpBuff$ = MID$(TmpBuff$,ii%+1,LEN(TmpBuff$)-ii%)
NEXT cnt2%
LETX VisResult = VisData(1) 'Assigns X element
LETY VisResult = VisData(2) 'Assigns Y element
CALL viTran6_s(POSX(VisResult),POSY(VisResult),PosResult) 'Converts to robot coordinate
TrackDataSet 1,cnt%,PosResult ‘The recognized workpiece data is
saved in the conveyer tracking buffer
NEXT cnt1%
END IF
LOOP UNTIL IO[220]=ON 'Repeats until the end signal of recognizing workpiece outputs ON
GIVEVIS
END
40
3.2.2 Tracking Operation Program
PROGRAM Main
DEFPOS PassPos
RUN IODetect ‘Executing the workpiece detection program under a multi-mask environment
TAKEARM
MOVE P,P10,S=20 ‘P10 Home Position
DO
IF TrackDataNum(1)>0 THEN ‘If the conveyer tracking data buffer has data,
‘data is obtained from the conveyer tracking data buffer
TrackDataGet 1,0,rest%,P11
IF rest%>=0 THEN ‘When workpiece data is obtained normally
LETZ P11=F11 ‘Set a position in the direction of Z.
LETT P11=0 ‘Set a posture at the tracking operation. (Note 1)
LETF P11=1 ‘Set a robot figure at the tracking operation.
VEL!=CurTrackSpd(1)
CALL SetTrackStartArea(1,VEL!*F13,1000) ‘The tracking start range is changed

according to the conveyer speed
WAITTRACKMOVE 1,P11,30 ‘Waiting until the workpiece subject to tracking reaches the
tracking start range
PassPos=CurTrackPos( 1,P11,1) ‘Obtaining the operation terminating position in the case
of PTP operation for the workpiece subject to tracking
LETZ PassPos=F11+70
MOVE P,@P PassPos,S=100
CALL SetTrackMove(1) ‘Conveyer 1 tracking is effective
APPROACH P,P11,@P 70,S=100
MOVE P,P11,S=100
DELAY 100 ‘Chucking a workpiece

DEPART P,@P 30,S=100
CALL ResetTrackMove ‘Canceling conveyer 1 tracking
APPROACH P,P21,30,S=100
MOVE P,@E P21,S=100 ‘Position where the workpiece is ejected
DEPART P,@P 70,S=100
ENDIF
ENDIF
LOOP UNTIL IO[128]=ON ‘Repeated while the tracking operation signal (such as 128) is ON
END
Note 1: (1) If the robot is a six-axis type, set a posture at the tracking operation as follows.
LETTR P11=RVEC(P20) ‘P20: The position and figure on the robot working
(2) When using a Hand I/O input interrupt, this command is not necssarry.
41
3.3 Program Confirmation Procedure
(1) Check the encoder count value.
Operate the conveyer and check the conveyer tracking parameter “Encoder
current position”. Confirm that the value changes according to the conveyer
operation.
(2) Check the encoder count value when a workpiece is detected.
Switch to the auto mode. Then, operate the conveyer and check “Encoder
stand. Pos. (Work detect.). Confirm that the value changes every time a
workpiece is detected.
(3) Check the workpiece detection program.
(3-1) Execute the workpiece detection program and let workpieces flow on the
conveyer. Count the number of workpieces visually at this time.
(3-2) Stop the conveyer.
(3-3) Execute the following program and check the number of data items within
the conveyer tracking data buffer:
PROGRAM CHKBUFNUM
I50=TrackDataNum(1) ‘For conveyer 1, I50: Assign an unused I-type variable.
END
The number of data items within the conveyer tracking data buffer is set in “I50”.
Check the value in “I50” and confirm that it matches the number of detected
workpieces that was confirmed visually.
(4) Set operation inhibiting areas.
The conveyer tracking operation may sometimes travel to an unexpected
position because of a programming mistake. Use the area function to set
operation inhibited area.
(5) Check the conveyer tracking operation.
Move the robot near the center of the conveyer and execute the following
program. Confirm that the robot follows the conveyer.
When conveyer tracking speed and conveyer speed deviate from each other.
Check the encoder lead amount of conveyer tracking parameter.
When conveyer tracking direction and conveyer moving direction deviate from
each other.
Execute conveyer calibration again.
PROGRAM CHKCONVEYERTRACK
TakeArm
CALL SetTrackMove(1)
DELAY 1000 ‘Following conveyer 1 for 1(s)
CALL ResetTrackMove
END
If the robot gets out of the operation range while following the conveyer, an
error occurs.
If the robot moves to a position outside the tracking range that was set in the
conveyer tracking parameters “Conveyer Track Upper Pos. (mm)” and
“Conveyer Track Lower Pos. (mm)”, an error occurs.
42
(6) Check the tracking operation using the workpiece to be detected.
Check the tracking operation using one detected workpiece.
Start with low conveyer speed and robot speed and increase each speed
gradually.
Use the following program to confirm tracking of the workpiece to be detected.
PROGRAM CHKWORKTRACK
DEFPOS PassPos
RUN IODetect ‘Executing the workpiece detection program under a multi-mask
environment
TAKEARM
DO
IF TrackDataNum(1)>0 THEN ‘If the conveyer tracking data buffer has data,
‘data is obtained from the conveyer tracking data buffer
LETZ P11=F11 ‘Set a position in the direction of Z (50 mm above the conveyer).
‘The tracking starts when the workpiece reaches the conveyer position 0
CALL SetTrackStartArea(1,0,1000)
WAITTRACKMOVE 1,P11,30
PassPos=CurTrackPos( 1,P11,1) ‘Obtaining the operation terminating position in the case
of PTP operation for the workpiece subject to tracking
LETZ PassPos=F11
MOVE P,PassPos
CALL SetTrackMove(1) ‘Conveyer 1 tracking is effective

MOVE P,P11
DELAY 1000 ‘Following the workpiece for 1(s)
CALL ResetTrackMove ‘Canceling conveyer 1 tracking
MOVE P, P21 ‘Position where the workpiece is ejected

ENDIF
ENDIF
LOOP
END
(7) Execute the tracking operation program.

Start with low conveyer speed and robot speed, and increase each speed
gradually.
Start with one workpiece and increase the number of workpieces gradually.
Reduce the workpiece interval gradually.
43
3.4 Conveyer Tracking Accuracy Checking Procedures
3.4.1 Encoder Installation Check
Check encoder and conveyer rotation for any slip or looseness between them.
Correct any slip or looseness if found.
3.4.2 When Using Visual Equipment (External visual equipment such as μVision)
(1) Calibration and teaching operation checking procedure

(1-1) Place a workpiece on a conveyer at a position within a visual recognition
area, and execute the visual recognition checking program
(CheckVision). For the visual recognition checking program
(CheckVision), refer to the program example 1.
(1-2) Move the conveyer until the workpiece enters into both the robot
movable area and the tracking operation area, and stop the conveyer.
(1-3) Set the robot operation speed to low (SP10 or less) and execute the
tracking checking program (CheckTracking). Set the timer (I30 in the
program) to a value 200 (0.2(s)) or more after the chuck position moving
command is executed. For the tracking checking program
(CheckTracking), refer to the program example 2.
(1-4) If the workpiece chucking position is correct, go to the procedure (2); if
any deviation is found in the chucking position, go to the procedure (1-5).
(1-5) Check if the conveyer calibration result is correct by referring to “(5)
Check the conveyer tracking operation” in “3.3 Program confirmation
procedures”. If any deviation is found in the conveyer calibration, execute
the conveyer calibration again by referring to “2.2 Conveyer Calibration”.
(1-6) Check if the visual recognition checking program (CheckVision) is correct.
As shown in the program example 1, assign the visual recognition
checking result to the P-type variable and check the value of the P-type
variable (P22).
(1-7) Check if the tracking operation program (CheckTracking) is correct. As
shown in the program example 2, assign the tracking operation position
to the P-type variable (P11) and check the value of the P-type variable.
(1-8) If no problem was found in the procedures (1-6) and (1-7), execute the
camera calibration again by referring to the “2.3 Camera Calibration”.
After the calibration, start the procedures again from (1-1).
(1-9) If the deviation in the workpiece chucking position cannot be corrected,
correct the position to the conveyer operation direction as shown in the
position correcting program (PosAdjust) in the program example 4.
(2) Robot speed-increase checking operation

(2-1) Execute the procedures (1-1)-(1-3) while increasing the robot speed
gradually.
(2-2) If the workpiece chucking position deviates from normal position as the
speed increases, increase the timer value (I30 in CheckTracking) after
the chuck position moving command is executed.
44
(3) Workpiece recognition process check
(3-1) Set the conveyer tracking parameter “Workpiece detection position
accuracy” to 2 mm (the same value as operation accuracy).
area, and execute the workpiece detection program (Vision). For the
workpiece detection program (Vision), refer to “3.2.1 Workpiece
detection program”.
(3-3) Move the conveyer until the workpiece moves out of the visual
recognition area.
(3-4) Terminate the workpiece detection program (Vision), and execute a
program (CHKBUFNUM) for checking the number of data in the
conveyer tracking data buffer. Verify the number of data (I50) is 1. For
the data count program (CHKBUFNUM), refer to “(3) Check the
workpiece detection program” of “3.3 Program Confirmation Procedure”.
(3-5) Repeat the procedures (3-2)-(3-4) several times. If the number of data is
1 for all the checks, go to the procedure (3-12); if not, go to (3-6).
area, and execute the workpiece detection program (Vision) without
moving the conveyer.
(3-7) After a while, the workpiece detection program (Vision) terminates. Verify
that the number of data (I50 in CHKBUFNUM) is 1 by executing the
program (CHKBUFNUM) for checking the number of data in the
conveyer tracking data buffer.
(3-8) Verify the number of data is 1 by repeating the procedures (3-6)-(3-7)
several times. If the number of data is 1, go to (3-9); otherwise, the
image processing program has a problem. Check the image processing
program.
(3-9) For external visual equipment, check that the hand I/O interrupt signal is
the shutter-on signal (image-capturing start signal). If any delay is found
between the shutter-on signal and image-pickup, set the conveyer
tracking parameter “Interrupt delay correction value” to the delay time.
(3-10)Execute the procedures (3-2)-(3-5) again.
(3-11)Restore the conveyer tracking parameter “Workpiece detection position
accuracy” to an original value.
(4) Conveyer speed-increase checking operation

(4-1) Set the timer (I30), in the tracking operation program (Main), to a value
adjusted in (2) after the chuck position moving command is executed.
For the tracking operation program (Main), refer to “3.2.2 Tracking
operation program”. (The example of workpiece detection program is
named as IODetect (RUN IODetect). Change the name to “Vision (RUN
Vision)).
(4-2) Set both the robot speed and conveyer speed to low, and execute the
tracking operation program (Main).
45
(4-3) Placing a workpiece on a conveyer, move the conveyer to check the
tracking operation and the workpiece chucking position. If something is
wrong with the tracking operation, check if the tracking operation
program is correct.
(4-4) Execute the procedure (4-3), while keeping the conveyer speed at low
and increasing robot speed. If the workpiece chucking position deviates
depending on the robot speed, adjust the timer (I30 in Main) after the
chuck position moving command is executed.
(4-5) Increasing the conveyer speed gradually, check the workpiece chucking
position. If the workpiece chucking position deviates from normal position
as the conveyer speed increases, adjust the conveyer tracking
parameter “Tracking position adjustment value”.
However, a limitation to the chuck position accuracy is (conveyer speed
(mm/s)  0.008) (mm) + a value equivalent to the camera pixels.
3.4.3 When Position is Recognized by a Sensor (Hand I/O Interrupt)
(1) Calibration and teaching operation checking procedures

(1-0) Execute the tracking data initialize program (DataInitialize).
(1-1) Place a workpiece upstream from a sensor on a conveyer. Change the
operation mode to automatic and start the conveyer at low speed. Detect
the workpiece position using a sensor while the conveyer is at operation.
(1-2) Move the conveyer until the workpiece enters into both the robot
movable area and the tracking operation area, and stop the conveyer.
(1-3) Execute the hand I/O interrupt checking program (CheckIODetect). For
the hand I/O interrupt checking program (CheckIODetect), refer to the
program example 3.
(1-4) Setting the robot operation speed to low (SP10 or less), execute the
tracking checking program (CheckTracking). Set the timer (I30 in
CheckTracking) to a value 200 (0.2(s)) or more after the chuck position
moving command is executed. For the tracking checking program
(CheckTracking), refer to the program example 2.
(1-5) If the workpiece chucking position is correct, go to the procedures (2); if
any deviation is found in the chucking position, go to the procedure (1-6).
(1-6) Check if the conveyer calibration is correct by referring to “(5) Check the
conveyer tracking operation” in “3.3 Program confirmation procedures”. If
any deviation is found in the conveyer calibration, execute the conveyer
calibration again.
(1-7) Check the hand I/O interrupt checking program (CheckIODetect) for any
abnormality. As shown in the program example 3, assign the workpiece
detection position result to the P-type variable, and check the value of
the P-type variable.
(1-8) Check the tracking operation program (CheckTracking) for any
abnormality. As shown in the program example 2, assign the tracking
operation position to the P-type variable, and check the value of the
P-type variable.
(1-9) Perform again the workpiece position teaching when the hand I/O
interrupt is executed. Refer to “2.4 Teaching of Workpiece Position when
Hand I/O Input Interrupt is in Use”. Start the procedures from (1-1) again.
46
(1-10)If the deviation in the workpiece chucking position cannot be corrected,
correct the position to the conveyer operation direction as shown in the
position correcting program (PosAdjust) as shown in the program
example 3.
(2) Robot speed-increase checking operation

(2-1) Execute the procedures (1-1)-(1-4) while increasing the robot speed
gradually.
(2-2) If the workpiece chucking position deviates from normal position as the
speed increases, increase the timer value (I30 in CheckTracking) after
the chuck position moving command is executed.
(3) Workpiece recognition process check

(3-1) Set the conveyer tracking parameter “Workpiece detection position
accuracy” to 2 mm (the same value as operation accuracy).
(3-2) Place a workpiece upstream from a sensor on a conveyer. Execute the
workpiece detection program (IODetect) and detect the workpiece using
the sensor. For the workpiece detection program (IODetect), refer to “(2)
When using an external visual equipment” in “3.2.1 Workpiece detection
program”.
(3-3) Verify that the number of data is 1 by executing a program
(CHKBUFNUM) for checking the number of data in the conveyer tracking
data buffer. For the data count program (CHKBUFNUM), refer to “(3)
Check the workpiece detection program” of “3.3 Program Confirmation
Procedure”.
(3-4) Execute the procedures (3-2) and (3-3) several times while increasing
the conveyer speed gradually. There is no problem if the number of data
is 1. Restore the conveyer tracking parameter “Workpiece detection
position accuracy” to an original value and go to the procedures (4); if not,
go to the procedure (3-5).
(3-5) Check if the sensor signal has been turned on more than once for the
same workpiece. If so, adjust the layout of the sensor or others. If
chattering is found to happen in the sensor signal, set the conveyer
tracking parameter “Workpiece detection position accuracy” to the
following value or lower to neglect the chattering zone.
“Workpiece detection position accuracy” > Conveyer moving distance
in the chattering zone
(3-6) If the number of detected data increases as the conveyer speed
increases, check the conveyer tracking parameter “Interrupt timing”.
Whenever the “Interrupt timing” is changed, teach again the workpiece
position when an I/O interrupt occurs. Refer to “2.4 Teaching of
Workpiece Position when Hand I/O Input Interrupt is in Use”.
(3-7) Execute the procedures (3-2)-(3-4) again.
47
(4) Conveyer speed-increase checking operation
(4-1) Set the timer (I30), in the tracking operation program (Main), to a value
adjusted in (2) after the chuck position moving command is executed.
For the tracking operation program (Main), refer to “3.2.2 Tracking
operation program”.
(4-2) Set both robot speed and conveyer speed to low, and execute the
tracking operation program (Main).
(4-3) Placing a workpiece on a conveyer, move the conveyer to check the
tracking operation and the workpiece chucking position. If something is
wrong with the tracking operation, check if the tracking operation
program is correct.
(4-4) Execute the procedure (4-3) keeping the conveyer speed at low while
increasing robot speed. If the workpiece chucking position deviates
depending on the robot speed, adjust the timer (I30 in Main) after the
chuck position moving command is executed.
(4-5) Increasing the conveyer speed gradually, check the workpiece chucking
position. If the workpiece chucking position deviates from normal position
as the conveyer speed increases, adjust the conveyer tracking
parameter “Tracking position adjustment value”. However, a limitation to
the chuck position accuracy is (conveyer speed (mm/s)  0.008) (mm).
3.5 Tact time Decreasing Operation
(1) Adjust the conveyer tracking parameter “Tracking acceleration rate”. Refer
to “14. Tracking accel rate” in “2.1.2 Detailed explanation of parameters”.
(2) A wait is produced when the conveyer tracking mode switching operation
(CALL SetTrackMove or CALL ResetTrackMove) is executed. Decrease
the wait using the pass operation or NEXT operation.
(3) As shown in the program example 5 (PassMove), if you operate the
conveyer based on a prediction using CurTrackPos command, the
operation command (APPROACH P,P11,@P 70 in PassMove) becomes a
moving command for very small distance and the pass operation becomes
an ending operation. Use the position corrected to the conveyer predicted
operation position as a point to be gone through.
(4) To decrease a tact time by decreasing the timer (I30 in Main) after the
chuck position moving command is executed, adjust the conveyer tracking
parameter “Tracking position adjustment value”. The maximum value of
the conveyer tracking parameter “Tracking position adjustment value” is
50. If the chuck position deviates upper stream even when the parameter
is set to the maximum value, shift the position obtained with TrackDataSet
toward conveyer operation direction as shown in the program example 4
(PosAdjust).
48
3.6 Program Examples
(1) Program example 1 Visual recognition checking program
PROGRAM CheckVision
DEFINT ErrNo = 0
DEFSNG VisData(4),Masterang
DEFPOS VisResult
PosResult=(0,0,240,0,0)
TrackDataInitialize 1
TAKEVIS
FLUSH #1 ‘Initializing serial line
LINEINPUT #1,S[1] 'Receiving visual data via RS232C
cnt% = VAL(LEFT$(S1,1)) 'Obtaining the number of recognized workpieces
IF cnt% <> 0 THEN 'When the number of recognized workpiecse is excepto
TmpBuff$ = MID$(S1,3,LEN(S1)-2)
TmpBuff$ = TmpBuff$ + ",E"
FOR cnt1%=1 TO cnt%
FOR cnt2%=1 TO 3
ii% = STRPOS(TmpBuff$,",") ', Comma searching
IF ii% = 0 THEN 'When data is abnormal
EXIT FOR
END IF
VisData(cnt2%) = VAL(LEFT$(TmpBuff$,ii%-1)) 'Sampling data
IF VisData(cnt2%) >= 999.0 THEN 'When data is abnormal
EXIT FOR
END IF
TmpBuff$ = MID$(TmpBuff$,ii%+1,LEN(TmpBuff$)-ii%)
NEXT cnt2%
LETX VisResult = VisData(1) 'Assigns X element
LETY VisResult = VisData(2) 'Assigns Y element
CALL viTran6_s(POSX(VisResult),POSY(VisResult),PosResult) 'Converts to robot coordinate
TrackDataSet 1,cnt%,PosResult 'Store recognized workpiece data into conveyer
tracking data buffer.
NEXT cnt1%
END IF
GIVEVIS
END
49
(2) Program example 2 Visual recognition checking program
PROGRAM CheckTracking
DEFPOS PassPos
TAKEARM
IF TrackDataNum(1)>0 THEN ‘If data exists in conveyer tracking data buffer,

TrackDataGet 1,0,rest%,P11 ‘obtain data from conveyer tracking data buffer.
IF rest%>=0 THEN ‘When workpiece data is obtained normally.
WAITTRACKMOVE 1,P11,30 ‘Wait until target workpiece enters into tracking start area.
PassPos=CurTrackPos( 1,P11,1) ‘Obtain operation termination position when PTP motion
is carried out to a tracking-target workpiece position.
LETZ PassPos=F11+70
MOVE P,@P PassPos
CALL SetTrackMove(1) ‘Conveyer 1 tracking is enabled.
APPROACH P,P11,@P 70
MOVE P,P11
DELAY I30
CALL HandChuck ‘Workpiece chuck
DEPART P,@P 30
CALL ResetTrackMove ‘Conveyer 1 tracking is released.
APPROACH P,P21,30
MOVE P,@E P21 ‘P21: Workpiece output position
ENDIF
ENDIF
END
(3) Program example 3 Hand I/O interrupt checking program
PROGRAM CheckIODetect
TrackDataSet 1,1,P100 ‘P100 is a workpiece detecting position (Calculation result
of CalcIOteachPos)
END
PROGRAM DataInitalize
TrackDataInitialize 1 ‘Initialize conveyer 1 data buffer.
END
50
(4) Program example 4 Position correction program
PROGRAM PosAdjust
DEFVEC CnvVec
‘obtain data from conveyer tracking buffer.
VEL!=CurTrackSpd(1) ‘Obtain conveyer speed (mm/s).
CALL CalcConvVec(1,CnvVec) ‘Calculate conveyer 1 vector in operation direction.
‘F99: Correction coefficient for conveyer speed
LETX P11=POSX(P11)+POSX(CnvVec)*VEL!*F99
LETY P11=POSY(P11)+POSY(CnvVec)*VEL!*F99
ENDIF
ENDIF
END
(5) Program example 5 Pass operation program
PROGRAM PassMove
DEFPOS PassPos

TrackDataGet 1,0,rest%,P11 ‘obtain data from conveyer tracking buffer.
WAITTRACKMOVE 1,P11,30 ‘Wait until target workpiece enters into tracking start area.
PassPos=CurTrackPos( 1,P11,1) ‘Obtain operation termination position when PTP
motion is carried out to a tracking-target workpiece
position.
LETZ PassPos=F11+70
MOVE P,@P PassPos
CALL SetTrackMove(1) ‘Conveyer 1 tracking is enabled.
APPROACH P,P11,@P 70
MOVE P,P11
DELAY I30
CALL HandChuck ‘Workpiece chuck
DEPART P,@P 30
CALL ResetTrackMove ‘Conveyer 1 tracking is released.
APPROACH P,P21,30
MOVE P,@E P21 ‘P21: Workpiece output position
ENDIF
ENDIF
END
51
3.7 List of Commands Related to the Conveyer Tracking Function
TRACKDATAINITIALIZE (statement)
Function
Initializes data within the conveyer tracking data buffer
Format
TRACKDATAINITIALIZE <Initialization mode>
Explanation
This command initializes data within the conveyer tracking data buffer. Specify the
initialization content with <initialization mode>.
Initialization mode value
0: Initializes conveyer-1 and conveyer-2 data.
1: Initializes only conveyer-1 data.
2: Initializes only conveyer-2 data.
Related item
TRACKDATASET
Example
PROGRAM PRO1
TRACKDATAINITIALIZE 0 ‘Initializing conveyer-1 and conveyer-2 data
END
Notes
Execution of TRACKDATAINITIALIZE erases the data saved with TRACKDATASET.
52
TRACKDATASET (statement)
Function
Saves data in the conveyer tracking buffer.
Format
TRACKDATASET <conveyer_number>, <number_of_recognized_workpieces>,
<recognized_workpiece_position>
Explanation
This command saves P-type data given in <recognized_workpiece_position> into the
tracking buffer for the conveyer specified in <conveyer_number>. It sets the number of
workpieces recognized simultaneously in <number_of_recognized_workpieces>. For
instance, if three workpieces have been recognized by a camera, it sets 3 in
<number_of_recognized_workpieces>.
Related item
TRACKDATAGET, TRACKDATAINITIALIZE
Example
PROGRAM PRO1
:
:‘If three workpieces (pos1, pos2, pos3) are recognized simultaneously by a camera on
conveyer 1
TRACKDATASET 1,3,pos1 ‘The first recognized workpiece position is saved in the
buffer
TRACKDATASET 1,3,pos2 ‘The second recognized workpiece position is saved in
the buffer
TRACKDATASET 1,3,pos3 ‘The third recognized workpiece position is saved in the
buffer
END
Notes:
Be sure to execute this command as many times as the number set for the number of
workpieces to be recognized.
Otherwise, the tracking operation position may be abnormal.
Data in <recognized_ workpiece_position> is compared with the previously recognized
workpiece position. If the system determines that the workpiece is at the same position, the
data in <recognized_workpiece_position> is not saved but discarded.
Data saved in the tracking buffer with TRACKDATASET can be obtained from the buffer
using TRACKDATAGET. The maximum number of data items that can be retained (the
number of data items that have not been read out with TRACKDATAGET) is 1000 (100 in
the controller system Ver. 2.73 or earlier).
When the power for the controller is turned off, data is erased.
Retained data can be erased with TRACKDATAINITIALIZE.
53
TRACKDATAGET (statement)
Function
Obtains data from the conveyer tracking buffer
Format
TRACKDATAGET <conveyer_number>, <data_number>,
<number_of_remaining_data_items>, <recognized_workpiece_position>
Explanation
This command obtains the workpiece position having the number specified in
<data_number> from the tracking buffer of the conveyer specified in <conveyer_number>
and then sets the position in <recognized_workpiece_position>. The number of data
items remaining in the tracking buffer is set in <number_of_remaining_data_items>. If
there is no data and an attempt to obtain data fails, the value of
<number_of_remaining_data_items> is “-1”. <data_number> indicates the sequence
number saved with TRACKDATASET. If “0” is specified, the data item that is the oldest of all
retained data items (data items that have not been obtained with TRACKDATAGET) is
applicable.
Related item
TRACKDATASET, TRACKDATAINITIALIZE
Example
PROGRAM PRO1
DEFINT REST
DEFPOS POS1
TAKEARM
MOVE P,P1
TRACKDATAGET 1,0,REST,POS1 ‘Obtaining the 0th workpiece recognition
position on conveyer 1
IF(REST>=0) THEN ‘If there is obtained data
CALL SETTRACKMOVE(1) ‘Starting conveyer 1 tracking
MOVE P.,POS1 ‘Tracking operation at the workpiece (POS1) position on
the conveyer
CALL RESETTRACKMOVE ‘Terminating the conveyer 1 tracking operation
ENDIF
END
Notes
If no data is set by TRACKDATASET, data cannot be obtained.
If the value of “number_of_remaining_data_items” is 0, data cannot be obtained.
Data obtained by TRACKDATAGET is erased from the buffer.
54
TRACKDATAINFO (statement)
Function
Obtains information within the conveyer tracking buffer
Format
TRACKDATAINFO <conveyer_number>, <data_number>,
<encoder_value_at_recognition>, <availability>,
<workpiece_position_at_recognition>
Explanation
This command obtains data specified in <data_number> from the tracking buffer of the
conveyer specified in <conveyer_number>. The workpiece position is set in
<workpiece_position_at_recognition>, and the encoder count value at workpiece
recognition is set in <encoder_value_at_recognition>. If there is no data corresponding to
the specified number, the value of <availability> is “-1”. <data_number> indicates the
sequence number saved with TRACKDATASET. If “0” is specified, the data item that is the
oldest of all retained data items (data items that have not been obtained with
TRACKDATAGET) is applicable.
Related item
CALCWORKPOS,TRACKDATANUM
Example
PROGRAM PRO1
DEFINT LI1,ENC
DEFPOS POS1
TRACKDATAINFO 2,0,ENC,LI1,POS1 ‘The 0th data on conveyer 2 is obtained
The availability is obtained in LI1
END
Notes
If there is no data corresponding to the specified number, the value of “availability” is “-1”.
When data acquisition is completed, the value of “availability” is “0”.
TRACKDATAINFO is only used to obtain information and the information is not erased from
the buffer.
TRACKDATANUM (statement)
Function
Obtains the number of data items retained with TRACKDATASET
Format
<number_of_saved_data_items>=TRACKDATANUM(<conveyer_number>)
Explanation
This command obtains the number of data items retained in the tracking buffer of the conveyer
specified in <conveyer_number>.
Example
PROGRAM PRO1
DEFINT LI1
LI1=TRACKDATANUM (1) ‘The number of data items retained for conveyer 1 is set
in LI1
END
55
CURTRACKPOS (statement)
Function
Obtains the position of the workpiece subject to tracking as a P type
Format
<tracking-target_workpiece_position>=CURTRACKPOS(<conveyer_number>,
<P_TYPE_POSITION_DATA>, <mode>)
Explanation
This command sets the position of the workpiece subject to tracking in the conveyer
specified in <conveyer_number> in <P_TYPE_POSITION_DATA>. The workpiece subject
to tracking is the one for which data is obtained with TRACKDATAGET before this command
is executed. Information about the position of the workpiece subject to tracking shown below
can be obtained from <mode>.
0: Obtains the current position of the target workpiece.
1: Obtains the position of the workpiece at the termination of the operation when the robot is
moved to the target workpiece position by PTP operation.
2: Obtains the position of the workpiece at the termination of the operation when the robot is
moved to the target workpiece position by CP operation.
Related item
TRACKDATAGET, TRACKDATASET
Example
PROGRAM PRO1
DEFINT REST
DEFPOS POS1,POS2
TAKEARM
MOVE P,P1
TRACKDATAGET 1,0,REST,POS1 ‘Obtaining the 0th workpiece data from
conveyer 1
POS2= CURTRACKPOS(1,POS1,1) ‘Setting the workpiece position at termination of
PTP operation in POS2
MOVE P POS2 ‘Operation to POS2
CALL SETTRACKMOVE(1) ‘Starting conveyer 1 tracking operation
MOVE P.,POS1 ‘Tracking operation for the workpiece in POS1
CALL RESETTRACKMOVE ‘Terminating conveyer 1 tracking operation
END
Notes
If a tracking-target workpiece position is out of the robot movable area when specifying the
mode, “Destination position out of motion space ” error occurs.
56
CURTRACKSPD (statement)
Function
Obtains the speed of the conveyer specified in <conveyer_number>.
Format
<conveyer_speed>=CURTRACKSPD(<conveyer_number>)
Explanation
This command obtains the speed of the conveyer specified in <conveyer_number> in units
of [mm/sec].
Related item
Example
PROGRAM PRO1
DEFSNG LF1
LF1=CURTRACKSPD(1) ‘Obtaining the speed of conveyer 1 in LF1
END
57
WAITTRACKMOVE (statement)
Function
Waits for the position of the workpiece subject to tracking to enter the tracking start range
Format
WAITTRACKMOVE <conveyer_number>,<recognized_workpiece_position>,
<timeout>
Explanation
This command waits for the workpiece specified in <recognized_workpiece_position> on
the conveyer specified in <conveyer_number> to enter the tracking start range. <timeout>
indicates the maximum wait time in seconds. If the workpiece does not fall into the tracking
start range within the specified time-out period, a timeout error occurs.
Related item
TRACKDATAGET
Example
PROGRAM PRO1
DEFINT REST
DEFPOS POS1
TAKEARM
MOVE P,P1
TRACKDATAGET 1,0,REST,POS1 ‘Obtaining the 0th workpiece position
from the conveyer 1 buffer
WAITTRACKMOVE 1,POS1,60 ‘Waiting for the workpiece to enter the tracking
range for a maximum of 60 seconds
CALL SETTRACKMOVE(1) ‘Starting conveyer 1 tracking
MOVE P.,POS1 ‘Tracking operation to the work (POS1) position on theconveyer
CALL RESETTRACKMOVE ‘Terminating tracking operation to conveyer 1
END
Notes
The tracking start range is a conveyer tracking parameter. Set this parameter either with a
pendant or the tracking start range setting library.
While executing WAITTRACKMOVE, never allow WAITTRACKMOVE to be executed in
other programs.
When a target workpiece is downstream from the tracking start area, an error 684B “Out of
track start area” occurs.
The suspended stop by Halt is calculated as wait time.
58
CALCWORKPOS (statement)
Function
Obtains the current position of the specified workpiece.
Format
<current_workpiece_position>=CALCWORKPOS (<conveyer_number>,
<workpiece_position_at_recognition>, <encode_value_at_recognition>)
Explanation
This command calculates the current position of the workpiece on the conveyer specified in
<conveyer_number>. Information (<workpiece_position_at_recognition> and
<encode_value_at_recognition>) of the workpiece subject to tracking is obtained with
TRACKDATAINFO.
Related item
TRACKDATAINFO
Example
PROGRAM PRO1
DEFINT LP1,LI1,ENC,PNUM
DEFPOS POS1,POS2
PNUM=TRACKDATANUM(2) ‘Obtaining the number of retained data items in

conveyer 2
FOR LP1=0 TO PNUM-1 ‘Referencing data items as many as PNUM
TRACKDATAINFO (2,LP1,ENC,LI1,POS1) ‘Obtaining conveyer 2 data sequentially starting
with the 0th
IF(LI1=0) THEN
POS2=CALCWORKPOS(2,POS1,ENC) ‘Setting the current position of the
workpiece obtained with
TRACKDATAINFO in POS2
:
:
ENDIF
NEXT LP1
END
59
CURTRACKPOSEX (statement)
Function
Obtains a tracking-target workpiece position in the P-type form.
Format
<tracking-target_workpiece_position>=CURTRACKPOSEX (<conveyer_number>,
<P-TYPE_POSITION_DATA>, <mode>, <error_information>)
Explanation
Sets a tracking-target workpiece position on a conveyer, specified by <conveyer_number>,
into a <P-TYPE_POSITION_DATA>. The tracking-target workpiece has been obtained with
TRACKDATAGET before execution of this command. The following tracking-target
workpiece position information can be obtained according to <mode>.
0: Obtains a current position of a target workpiece.
1: Obtains a target workpiece position at operation termination when the robot has been
moved to the target workpiece position using the PTP operation.
2: Obtains a target workpiece position at operation termination when the robot has been
moved to the target workpiece position using the CP operation.
<error_information> becomes 0 after a tracking-target workpiece position has been
calculated, and becomes 1 when a tracking-target workpiece position is out of the robot
movable area.
Related item
CURTRACKPOS
Example
PROGRAM PRO1
DEFINT REST,ERINF
DEFPOS POS1,POS2
TAKEARM
MOVE P,P1
TRACKDATAGET 1,0,REST,POS1 ‘Obtain the zeroth workpiece data from
conveyer 1 data.
POS2= CURTRACKPOSEX(1,POS1,1,ERINF) ‘Assign to POS2 a workpiece position after
PTP operation has been terminated.
IF ERINF=0 THEN
MOVE P POS2 ‘Move to POS2.
CALL SETTRACKMOVE(1) ‘Start conveyer 1 tracking.
MOVE P.,POS1 ‘Track a workpiece at POS1.
CALL RESETTRACKMOVE ‘Terminate conveyer 1 tracking.
ENDIF
END
60
WAITTRACKMOVEEX (statement)
Function
Waits for tracking-target workpiece to enter into a tracking start area.
Format
<error_information>=WAITTRACKMOVEEX(<conveyer_number>,
<recognized_workpiece_position>, <timeout_duration>)
Explanation
Waits for a workpiece specified by <recognized_workpiece position> to enter into a
tracking start area on a conveyer specified by <conveyer_number>. <timeout_duration>
is a maximum wait duration in seconds. A timeout error occurs if a workpiece does not enter
into a tracking start area. The value of <error_information> is “0” while a target workpiece
is out of a tracking start area, “1” after a timeout, and “2” when the workpiece is downstream
from the tracking start area.
Related item
WAITTRACKMOVE
Example
PROGRAM PRO1
DEFINT REST、ERINF
DEFPOS POS1
TAKEARM
MOVE P,P1
TRACKDATAGET 1,0,REST,POS1 ‘Obtain the zeroth workpiece position from
conveyer1 buffer.
ERINF=WAITTRACKMOVEEX(1,POS1,60) ‘Wait for up to 60 seconds until a workpiece
enters into a tracking area.
IF ERINF=0 THEN
CALL SETTRACKMOVE(1) ‘Start conveyer 1 tracking.
MOVE P.,POS1 ‘Perform tracking to a workpiece position POS1 on a conveyer.
CALL RESETTRACKMOVE ‘Terminate tracking of conveyer 1.
ENDIF
END
Notes
Tracking start area is a conveyer tracking parameter. Set this value using either the pendant
or the tracking start area setting library.
Do not execute WAITTRACKMOVE while it is used in another program.
The suspended stop by Halt is calculated as wait time.
61
CAMIN (Statement)
Function
Captures an image from a camera into the specified image memory (processing screen).
Format
CAMIN <camera#>[,<memory#> [,<table#> ] ]
Explanation
<camera#>
Specifies a camera number. (1 or 2)
<memory#>
Specifies a memory number (processing screen number). (0 to 3)
Omitting this parameter automatically specifies "0."
<table#>
Specifies a lookup table number to use when getting an image. (0 to 15)
Omitting this parameter automatically specifies "0."
Related item
CAMMODE、CAMLEVEL、VISDEFTABLE
Example
CAMMODE 1,0,0 'Capture the image of camera 1 into memory 0
'after conversion with table 0 (same brightness level as the camera image)
DELAY 2000 'Stop for 2 seconds
CAMIN 1 'Same execution result as CAMIN 1,0,0
DELAY 2000 'Stop for 2 seconds
I1 = 1 '
I2 = 0 '
I3 = 3 '
CAMIN I1,I2,I3 'Capture the image of camera 1 into memory 0
'after conversion with table 3 (inversion)
VISPLNOUT 0 'Output the image held in memory 0 to the monitor (static image)
Notes
No connection of a camera or no correct data entry due to camera failure results in an error.
If <table#> is non-zero, switching to the specified table is made. It may disturb the screen,
but it is not a failure. After execution of this command, the table number automatically
reverts to "0."
This command requires a μVision board (option) to be mounted in the robot controller.
62
CAMMODE (Statement)
Function
Specifies camera image capturing conditions.
Format
CAMMODE <camera#>，<capturing_option>，<capture_mode>
Explanation
<camera#>
Specifies a camera number. (1 or 2)
<capturing_option>
Specifies a capturing option. (0 or 1)
0: Normal (Usual camera setting)
1: Reset (After resetting a camera, capture a camera image.)
<capture_mode>
Specifies an image capture mode. (0 or 1)
0: Frame capture mode
This mode captures a single frame of a camera image with the maximum vertical resolution.
1: Field capture mode
This mode is selected to use the shutter feature of the field shutter camera. Using this mode
causes no field-to-field imaging delay (1/60 sec.), enabling capture of non-blurred images.
Note that the vertical resolution comes to be half.
Related item
CAMIN、VISSTATUS
Example
CAMMODE 1,0,0
'Specify "Normal" capturing option and "Frame capture mode" for camera 1
I1 = VISSTATUS(0) 'If camera is normal, I1 = 0
IF I1 = 0 THEN
CAMIN 1 'Capture the image of camera 1 into memory 0
'after conversion with table 0 (same brightness level as the camera image)
VISPLNOUT 0 'Output the image held in memory 0 to the monitor (static image)
VISLOC 10,10 'Specify the display location
VISPRINT "Capturing normal" 'Display characters on the screen
ELSE
VISLOC 10,10 'Specify the display location
VISPRINT "Camera abnormal" 'Display characters on the screen
END IF
Notes
If this command is not specified, the factory settings apply.
This command preserves the factory settings and restarting the controller reverts to the
factory settings. User-specified settings are lost.
Execution of this command checks connection of a camera. If a camera is judged as
abnormal, VISSTATUS (0) returns "-1"; if as normal, it returns "0."
This command requires a μVision board (option) to be mounted in the robot controller.
63
3.8 List of Libraries Related to the Conveyer Tracking Function
SETTRACKMOVE (library)
Function
Starts the tracking operation for the specified conveyer
Format
SETTRACKMOVE(<conveyer_number>)
Explanation
This command starts the tracking operation for the conveyer specified in
<conveyer_number>.
Related item
RESETTRACKMOVE
Example
PROGRAM PRO1
DEFINT REST
DEFPOS POS1
TAKEARM
MOVE P,P1
TRACKDATAGET 1,1,REST,POS1 ‘Obtaining the 1st workpiece position from
conveyer 1 data
range for 60 seconds
CALL SETTRACKMOVE(1) ‘Starting tracking for conveyer 1
MOVE P.,POS1 ‘Tracking operation for POS1
CALL RESETTRACKMOVE ‘Terminating the tracking operation for conveyer 1
END
Notes
When you execute SETTRACKMOVE in the auto mode, the system enters the tracking
operation mode.
When you execute SETTRACKMOVE in the teach check mode, an error 6002 “Wrong
operation mode” occurs. In the teach check mode, the tracking operation mode is forbidden.
During the tracking operation mode, the robot follows in the direction of the conveyer
operation even if no operational instruction is executed.
To return from the tracking operation mode to the normal operation mode, execute
RESETTRACKMOVE.
When the conveyer tracking program is completed or the mode switch is setted in the
manual mode or GIVEARM command is executed, the operation mode returns from the
tracking operation mode to the normal operation mode and an error 6841 “Interrupted track
motion” occurs.
64
RESETTRACKMOVE (library)
Function
Switches from the tracking operation mode to the normal operation mode
Format
RESETTRACKMOVE
Explanation
This command stops the tracking operation and switches to the normal operation mode.
Related item
SETTRACKMOVE
Example
PROGRAM PRO1
DEFINT REST
DEFPOS POS1
TAKEARM
MOVE P,P1
TRACKDATAGET 1,1,REST,POS1 ‘Obtaining the 1st workpiece position from
conveyer 1 data
range for 60 seconds
CALL SETTRACKMOVE(1) ‘Starting tracking for conveyer 1
MOVE P.,POS1 ‘Tracking operation for POS 1
CALL RESETTRACKMOVE ‘Terminating the tracking operation for conveyer 1
END
Notes
During the tracking operation mode, the robot follows in the direction of the conveyer
operation. When you execute RESETTRACKMOVE, the robot decelerates its speed and
then stops, returning to the normal operation mode.
CONVCAL (library)
Function
Executes conveyer calibration
Format
CONVCAL(<conveyer_number>)
Explanation
This command executes calibration for the conveyer specified in <conveyer_number>.
Related item
Notes
For the use method, see “2.2 Conveyer Calibration”.
65
CALCCAMCALPOS (library)
Function
Compute the robot coordinate values to be specified in XX when the
WINCAPSIII Vision Manager executes calibration.
Format
CALCCAMCALPOS(<conveyer_number>, <P_type_variable_storage_number_1>,
< P_type_variable_storage_number_2>, < P_type_variable_storage_number_3>)
Explanation
This command stores the three workpiece positions to be used for camera calibration on the
conveyer specified in <conveyer_number> in the P-type variables specified in
<P_type_variable_storage_number_1> to <P_type_variable_storage_number_3>.
Notes
For the use method, see “2.3 Camera Calibration”.
CALCIOTEACHPOS (library)
Function
Computes the workpiece position when Hand I/O interrupt is used
Format
CALCIOTEACHPOS (<conveyer_number>,<P_type_variable_storage_number_1>,
< P_type_variable_storage_number_2>)
Explanation
This command computes the workpiece position at Hand I/O interrupt based on the teaching
position and conveyer movement amount.
Notes
For the use method, see “2.4 Teaching of Workpiece Position when Hand I/O Input Interrupt
is in Use”.
66
SetTrackStartArea (library)
Function
Sets the tracking start range at the time of WAITTRACKMOVE
Format
SetTrackStartArea
(<conveyer_number>,<conveyer_upstream_(-)side_tracking_start_position>,
<conveyer_downstream_(+)side_tracking_start_position>)
Explanation
This command sets the tracking start range at the time of WAITTRACKMOVE for the
conveyer specified in <conveyer_number>.
<conveyer_upstream_(-)side_tracking_start_position > and
<conveyer_downstream_(+)side_tracking_start_position> are specified with conveyer
positions.
- side
Sensor
+ side
Tracking start range
Related item
WAITTRACKMOVE
Example
CALL SetTrackStartArea (1,-100,1000) ‘Specifying that the tracking start range for
conveyer 1 is between -100 mm and +1000
mm
TRACKDATAGET 1,0,REST,POS1 ‘Obtaining the 0th workpiece position from the
conveyer 1 buffer
range for up to 60 seconds
67
CalcConvPos (library)
Function
Converts the work position of robot coordinate system to the conveyer position.
Format
CalcConvPos （<conveyer_number>、<work_position>、<conveyer_position>）
Explanation
Converts the work position specified in <work_position> of robot coordinate system to the
conveyer position specified in <conveyer_number>.
Related item
CurTrackPos
Example
DEFPOS Pos1, WPos
DEFSNG CnvPos
WPos=CurTrackPos（1, Pos1, 1） ‘Caluculates the work position when
conveyer 1 finishes PTP motion.
CALL CalcConvPos(1, WPos, CnvPos) ‘Caluculates the conveyer position of
conveyer 1.
SetConvLowVelErr (library)
Function
Sets the low speed error detecting function.
Format
SetConvLowVelErr( （<conveyer_number>）
Explanation
Enables the low speed error detecting function of the conveyer specified in
<conveyer_number>.
Entering 0 for <conveyer_number> disables the low speed error detecting function.
The low speed error detecting function detects when the conveyer speed value becomes
lower than the setting value in conveyer tracking parameter.
Example
CALL SetConvLowVelErr(1,) ‘Enables the low speed error detecting function of
conveyer 1.
68
CalcConvVec (library)
Function
Calculates conveyer vector.
Format
CalcConvVec (<conveyer_number>, <conveyer_vector>)
Explanation
Calculates conveyer vector of a conveyer specified by <conveyer_number>.
Related item
CalcConvPos
Example
DEFVEC CnvVec
CALL CalcConvVec(1,CnvVec) ‘Calculate a conveyer vector of conveyer 1.
SortTrackData (library)
Function
Calculates the number of a data item, in a conveyer tracking buffer, that is the most
downstream on a conveyer.
Format
SortTrackData (<conveyer_number>, <conveyer_buffer_data_count>,
<conveyer_vector>, <the_number_of_the_most_downstream_data_item>)
Explanation
Calculates the number of the most downstream data item selected from the data specified
by <Conveyer buffer data count> in a conveyer tracking data buffer of a conveyer specified
by <Conveyer number>, and assigns the number of the data to <The most downstream data
number>.
Obtain <Conveyer buffer data count> using TrackDataNum.
Calculate <Conveyer vector> using CalcConvVec.
Related item
TrackDataGet, TrackDataNum, CalcConvVec
Example
DEFPOS TrackPos
DEFVEC CnvVec
DEFINT datnum, resnum
CALL CalcConvVec(1,CnvVec) ‘Calculation of the conveyer vector of conveyer 1
CALL SortTrackData(1,TrackDataNum(1),CnvVec, datnum)
TrackDataGet 1,datnum,resnum,TrackPos
69
SortTrackAllData (library)
Function
Calculates the number of a data item, from all data in a conveyer tracking buffer, that is the
most downstream on a conveyer.
Format
SortTrackAllData (<conveyer_number>,
<the_number_of_the_most_downstream_data_item>)
Explanation
Calculates the number of the most downstream data item selected from all data in a
conveyer tracking data buffer of a conveyer specified by <Conveyer number>, and assigns
the number of the data to <The most downstream data number>.
Related item
SortTrackData
Example
DEFPOS TrackPos
DEFINT datnum, resnum
CALL SortTrackAllData(1, datnum)
TrackDataGet 1,datnum,resnum,TrackPos
70
RC7M CONTROLLER
CONVEYER TRACKING BOARD
OPTIONS MANUAL (SUPPLEMENT)

First Edition August 2005
Third Edition March 2010
Fourth Edition April 2011
DENSO WAVE INCORPORATED 4N**C
The purpose of this manual is to provide accurate information in the handling and operating of
the robot. Please feel free to send your comments regarding any errors or omissions you may
have found, or any suggestions you may have for generally improving the manual.
In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages
resulting from the application of the information in this manual.

DENSO - Robotics - RC7M Conveyer Tracking Board

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ROBOT

Optional board covered by this manual

To the customer who purchased an extension board as an

(1) Choose Connect | Monitor Communication | Monitoring (online). Then choose

The serial number appears.

Chapter 2 Conveyer Tracking Adjustment ............................................................................................. 14

1.1 Optional Components

1.2 Conveyer Tracking Board Specifications

Board & accessories

View from the cable side

1.2.4 Conveyer Tracking Board Settings (Factory-default Settings)

(1) Board ID setting jumper

(2) Encoder input circuit terminating

1.3.2 Configuration of Sensors and Cameras

Encoder 1/ DC/DC Encoder 1/ DC/DC Encoder 1/ DC/DC

(2) Outline drawing

(2) Outer dimensions

Wiring for DC/DC Converter

View from the cable aside

(1) Encoder cable

Wiring Diagram of Encoder Cables

(2) Wire connections of encoder (E6B2-CWZ1X) cables

Access: [Top Screen]-[F6 Set]-[F7 Options.]-[F8 Extension]

(2) Set Conveyer tracking parameters.

(3) Confirm the encoder count value.

Operate the Conveyer and confirm “Encoder current position”.

(4) Confirm the encoder count value when a workpiece is detected.

1.6.1 Setting on the Rear Panel

1 Gain adjuster Adjusts the manual gain.

3 Electronic shutter ON/OFF Turns the electronic shutter on and off.

4 VIDEO OUT terminal Video output terminal for monitoring.

Mode change switch (DIP switch) Electronic shutter speed switch

View from the side, after removal of the cover

[1] Mode change switch (DIP switch)

Factory default New configuration

Switch configuration (New settings in gray）

1 Gamma correction 1.0 0.45

2 CCD accumulation Frame accumulation Field accumulation

4 Special shutter OFF ON

6 VD/FLD output VD output FLD output

No. Shutter speed

4 1/1000 (factory default)

2.1.1 How to Set Conveyer Tracking Parameters

(3) Pressing [F1 Tracking] displays the parameter setting screen.

(Continued on following page)

6. Encoder stand. Pos. (motion start.)

Xb ang1: Conveyer CALSET(XY)

When conveyer calibration is executed, the computation value is applied.

10. Conveyer Track Upper Pos. (mm)

Hand I/O (CN9)

18. Edge Trigger

Set the parameter using the following guideline.

Setting value≦Minimum distance

Minimum distance between workpieces

20. Interrupt data setting

0: Upon execution of TrackDataSet command, all the encoder values

1: Upon execution of TrackDataSet, the encoder values obtained during

The setting of conveyer operation direction is indispensable to conveyer

2.2.1 How to Execute Conveyer Calibration

2.2.2 Conveyer Calibration Execution Procedure

(2) Execution of the conveyer calibration library (CONVCAL)

(2-1) Outline of the conveyer calibration library (CONVCAL)

a) Set a reference point on the conveyer (placing a